CN105607061A - Display system and method using weather radar sensing - Google Patents

Abstract

An enhanced vision method uses or an enhanced vision system includes an onboard weather radar system configured to improve angular resolution and/or resolution in range. The onboard weather radar system generates image data representative of the external scene topography of a runway environment associated with radar returns received by the onboard weather radar system. The radar returns are in an X-band or a C-band. The enhanced vision system also includes a display in communication with the onboard weather radar system and is configured to display an image associated with the image data that is generated by the onboard weather radar system. The enhanced vision system can also be used as an enhanced flight vision system.

Description

Use display system and the method for weather radar sensing

The cross reference of related application

The application relates to the U.S. Patent application that the people such as Wood submitted on 09 10th, 2014The U.S. Patent application that the people such as 14/482681, McCusker submitted on June 10th, 2014The U.S. Patent application 13/627788 of submitting to for 14/301199,2012 year 09 month 26 days; 2010 09The U.S. that the U.S. Patent application of submitting to by the moon 28 is submitted to for 12/892563,2011 year 09 month 30 days is specialThe U.S. Patent application 12/236464,2008 that profit application is submitted to for 13/250798,2008 year 09 month 28 daysThe U.S. Patent application of submitting in 07 month 02 day year is submitted to for 12/167200,2008 year 07 month 02 dayThe U.S. Patent application that U.S. Patent application is submitted to for 12/167200,2008 year 07 month 25 daysThe U.S. Patent application of submitting to for 12/180293,2011 year 09 month 28 days 13/247742,2007 year 09The U.S. that the U.S. Patent application of submitting to by the moon 06 is submitted to for 11/851323,2007 year 09 month 26 days is specialThe U.S. Patent application 13/241051,2008 that profit application is submitted to for 11/904491,2011 year 09 month 22 daysThe U.S. Patent application 12/263282 that submit on October 31, in, and carry on 07 25th, 2008The U.S. Patent application 12/180293 of handing over, wherein all these patent applications are here all intactly drawnEnter with as a reference, and be all transferred to the application's applicant.

Technical field

The disclosure relates generally to aircraft sensing and/or display system. More particularly, the disclosure relates toA kind of display system and method that uses weather radar sensing.

Background technology

Aircraft strengthens vision system (EVS) by use provides image to aircraft crew.If meteorological condition hindered by windscreen clear and natural check the external environment condition of aircraft, so shouldImage can comprise airport terminal area and runway environment. For instance, EVS can be by airport terminal areaWith the doubling of the image of runway environment see by the driving cabin windscreen of aircraft pilot about flyingRow device external environment condition natural without on navigation mark view. Under the low visibility situation in greasy weather and so on, thisPlant image and can promote the Situation Awareness of flying machine group membership in blind approach process. This enhancing is lookedVision system can be used through the enhancing flying-vision system of FAA certification, even if wherein in airport environmentIn not visible situation, this system also can allow the pilot who lands according to instrument flight rules lowIn the situation of certain specified altitude assignment, operate. For example,, according to the 14th section the 91st of CFRPoint, except classification II or classification III, unless pilot can see the visual reference that certain is necessary,Otherwise pilot can not drop to lower than decision-making height (DA) from straight line blind approach process (IAP)Or minimum descent altitude (MDA) is until higher than 100 feet of access area absolute altitudes. As example, this orderComprise approach lighting system, threshold value illuminator and runway edge light system depending on terrestrial reference. But,Under low visibility situation at pilot's nature without accessorial visual None-identified visual reference, pilotCan identify needed visual reference with EFVS. Correspondingly, by using EFVS, canBy pilot cannot be under blind situation by aircraft landing and in time transporting cargo and/Or the loss that passenger causes is down to minimum.

EVS image is presented to operation pilot (PF) on depending on display (HUD) upper conventionally.A HUD normally permission PF looks in checking aircraft exterior environment by driving cabin windscreenSee the transparent display device of EVS image. As long as the visibility situation of aircraft exterior allows PF to pass throughDriving cabin windscreen is checked external environment condition, and PF can examine EVS normal operation, thus, and on HUDImage will meet the aircraft exterior environmental view of PF.

EVS image also can be presented to monitor pilot (PM) sometimes on head down display (HDD).For instance, in some countries, this system must present EVS image to PM, for confirmation described inEVS information is the reliable and accurate designator relevant to necessary visual reference. In addition, PM alsoCan with EVS image determine PF whether march into the arena and landing mission in take appropriate action. HDDNormally a position that is arranged on contiguous aircraft console or instrument board or its inside is nontransparentDisplay device,

EVS can obtain for generating airport terminal area and race with active or passive sensing system conventionallyThe data of road environmental images. As example, typical passive sensor can be FLIR (FLIR)Camera or visible spectrum camera, it receives the electromagnetic energy from environment, and output can be for beingSystem makes the data for producing the video image of seeing from camera angle. This camera is installed in oneIndividual appropriate position, for example aircraft nose, thus can be on HUD for PF present appropriately thanScalable and the location of example and there is with it almost identical looking when PF checks aircraft exterior environmentThe video image at angle. But, although passive sensor provides the video image of better quality, itsCannot in some the blind situation such as thick fog, identify needed visual reference.

As example, active sensor system can be millimeter wave (MMW) radar system (for example,94GHz), this system is launched electromagnetic energy in environment, then the echo electromagnetism of reception environment reflectionEnergy. This active sensing system is installed in an appropriate position, for example aircraft nose conventionally.The cost of active sensing system is very high, and need on aircraft, provide the equipment of other types sameThe space needing. In addition, MMW radar system needs the radome technology that cost is very high.

As a supplement, passive FLIR camera and active millimeter wavelength radar system such as thick fog itScope in some blind situation of class is all very limited.

Need thus for the reality that strengthens vision is provided at rugged environment and with farther distanceTime or quasi real time sensing system and method. Further, needed is to strengthen vision shadow for providingThe cost of picture is lower and do not need in real time or quasi real time sensing system and the side of carry-on additional spaceMethod. And needed is to provide outside by using from the radar data of Weather radar systemThe display system of scene pattern and method. Further, needed is for providing from weather radarThe system and method for the runway environment image of deriving in data, wherein said image allows at blind approachExecutable operations lower than certain specified altitude assignment in the situation that during this time. As a supplement, needed is to pass throughRealize system and the side of more high-resolution imaging with X-band and C-band radar dataMethod.

If a kind of one or more features in these and other favorable characteristics of providing can be providedSystem and/or method will be ideal so. From this description, can have a clear understanding of otherFeature and advantage. For the embodiment that falls into accessory claim scope, no matter whether it realizesForegoing one or more demands, disclosed instruction all can extend to these embodiment.

Summary of the invention

In one aspect, relating to one about the embodiment of inventive concept disclosed herein looks for strengtheningThe image processing system of feeling, this system comprises a processor and the memory with this processor coupling.This memory has comprised the instruction that makes processing below processor execution in being moved by processor:Radar beam is provided, and the radar return of receiving angle and/or range resolution ratio lifting, to deriveAbout the view data of outer scene pattern.

In one aspect of the method, relate to a kind of vision side about the embodiment of inventive concept disclosed hereinMethod or vision system, wherein the method use or this system comprise one be configured to range of lift andThe Weather radar system of azimuth resolution. This Weather radar system generates with Weather radar system and connectsThe view data that the radar return of receiving is associated. This radar return is in X-band or C-band. This is lookedVision system also comprises a display of communicating by letter with Weather radar system, and this display is configured toShow the image being associated with view data.

In one aspect of the method, relate to one about the embodiment of inventive concept disclosed herein increasing is providedThe airborne Weather radar system of strong vision. This Weather radar system comprises antenna and control circuit, whereinThis control circuit is configured to provide radar beam by antenna to external environment condition, and is configured toReceiving radar echo. This control circuit is configured to provide and external environment condition by processing radar returnThe view data being associated. With those sensings for the weather radar of radar return of view data is providedSensing function is compared, and this Weather radar system provides the range resolution ratio of lifting and the angle of lifting to divideDistinguish rate. Radar beam is in X-band or C-band, and view data can to pilot provide aboutThe visual image of outer scene pattern.

In one aspect of the method, relate to one about the embodiment of inventive concept disclosed herein and provide realTime sensor image method. The method comprises: receive from X-band or the airborne weather thunder of C-bandReach the radar return of system. By processing radar return, can there is range resolution ratio and the angle of liftingDegree resolution ratio, and described radar return receives from external environment condition. The method also comprises: based onRadar return provides the visual image about outer scene pattern.

Brief description of the drawings

By thinking the following detailed description, can understand better about inventive concept disclosed hereinEmbodiment. Accompanying drawing has been quoted in these descriptions, and wherein this accompanying drawing may not be drawn in proportion, forClear for the purpose of, some features in accompanying drawing can be exaggerated, and some features can be omitted or illustrateProperty represents. In the accompanying drawings, identical reference number can represent with the same or analogous element of index,Feature or function. In the accompanying drawings:

Fig. 1 be according to the aircraft control centre of the exemplary embodiment of inventive concept disclosed herein orThe schematic diagram of driving cabin;

Fig. 2 be according to the exemplary embodiment of inventive concept disclosed herein for show from radar numberAccording to the schematic generalized block diagram of the display system of the image of middle derivation;

Fig. 3 be show according to another exemplary embodiment of inventive concept disclosed herein by Fig. 2The flow chart of the exemplary process that shown system is used;

Fig. 4 is the demonstration as shown in Figure 2 according to the exemplary embodiment of inventive concept disclosed hereinSystem provides and is the illustration of the image of deriving from radar data; And

Fig. 5 is according to another exemplary embodiment of inventive concept disclosed herein as shown in Figure 2Display system provide and be derive and represent with HUD symbol the example of image merging from radar dataFigure.

Detailed description of the invention

Before describing concrete improved system and method in detail, should observe bag of the present inventionDraw together but be not limited to the novel structure combination of routine data/signal processing component and telecommunication circuit, and notBe limited to its specific details configuration. Correspondingly, in most of the cases, used in the accompanying drawings easilyIn the box indicating of understanding and schematic diagram illustrate conventional composition software and circuit structure, method,Function, control and arrangement, thus the disclosure and the art technology benefiting avoided from the description herePersonnel are clear, and the CONSTRUCTED SPECIFICATION of knowing is obscured mutually. Further, the present invention is not limited in illustration and retouchesThe specific embodiment of stating, but should explain according to the word in claim.

According to various exemplary embodiments, EVS or display system can have radar sense process withAnd can on HDD or this class aircraft display of HUD, be shown to the image of pilot or copilot. ExampleAs, display system can comprise or use a Weather radar system, so that based on radar return dataShow image. In certain embodiments, Doppler Weather Radar System can be configured to have enhancingResolution ratio (for example angular resolution and/or range resolution ratio). In boat station, airport or runway environmentThe radar return that runway structure reflects can be sensed, and wherein as example, described runway structure is passableApproach lighting system, threshold value illuminator and/or runway edge light system. Can expect,Compared with millimeter wavelength radar sensing system or passive FLIR or visible light camera system, at thick fogIn this class low visibility situation, if Weather radar system has the outstanding weather radar that penetrates thick fogSystem capability, is used so according to the Weather radar system of different exemplary embodiment configurations and can carryFor larger distance.

In blind situation, by using according to the weather thunder of different exemplary embodiment configurationsReach system, EVS image (the 14th section of the known CFR with enough accuracy can also be providedThe desired a lot of visual references of the 91st part, for example such as approach lighting system, threshold value illuminator,Runway edge light system and other runway structures are all the metal knots that shows high radar reflectivityStructure). In certain embodiments, this image can allow (for example to have lower minimum landing standard100 feet or lower). In certain embodiments, if not from runway structure and runway lights phaseIn conjunction with the radar return on runway surface, the image that is suitable for pilot and identifies runway can be provided so.

In certain embodiments, display system comprises a radar processing mould combining with radar systemPiece, this module is configured to generate the high-resolution radar view data for showing. Be somebody's turn to do by processingView data, can be as here all introduced and U.S. Patent application 14/301199 as a referenceWith 14/482681 as described in provide two-dimentional Confusion Of Aircraft to show (example based on radar returnAs vertically profiling shows or plan view demonstration) or for representing airport boat station runway structure or runwayThree-dimensional or the perspective Confusion Of Aircraft of the 3D position of environment shows image. For instance, radar is processed mouldThe nonvolatile memory that piece can be appeared as processor and comprise programmed instruction, wherein said instructionIn being moved, will make processor that radar beam is provided, receiving radar echo, and from thunderReach and in echo, produce view data. The program of storing in nonvolatile medium in certain embodiments, refers toOrder makes processor filter radar return data, to remove noise.

According to some exemplary embodiment, the radar system such as Weather radar system can be used toDetect runway environment feature. In certain embodiments, be no matter in the daytime or night, by usingWith the high radar cross section that the tenor of runway illumination is associated, can advantageously allow to carry out and detect,And need not consider that runway lights opens or close. In one embodiment, from producing according to radar dataIn raw image, can identify the systematicness, periodicity and the equally spaced spy that have about visual navigation markProperty, as example, this visual navigation mark can be landing area floodlight system, Runway Edge Lights, taxi-track lightAnd middle-line lamp. In certain embodiments, this system and method can be used as combining vision system (CVS)Expansion.

With reference to figure 1, display system 10 is in the flight with aircraft control centre 11 or driving cabinIn device, provide. Aircraft control centre 11 comprises that the flight that shows as head down display (HDD) showsShow device 20. And this aircraft control centre 11 can also comprise with on look display (HUD) systemAssociated combiner 21. In one embodiment, combiner 21 is the parts as wearable HUDRealize. Conformal (conformal) information is provided on this combiner 21.

Flight displays 20 can be used for providing information to flying machine group membership, increase thus vision coverage area withAnd enhancing decision-making capability. In one exemplary embodiment, flight displays 20 and combiner 21 canTo comprise weather display, associating display, weather radar map and profilometer display. More enter oneStep, flight displays 20 can comprise from synthetic vision system (SVS) or strengthen system vision systemThe image (for example EFVS) of system (EVS). For instance, flight displays 20 can comprise oneDisplay, this display is configured to show the fluoroscopy images of landform and/or Weather information. About landformAnd/or other views of Weather information be equally can provide (for example plan view, horizontal view,Right-angle view or the combination of these views). In addition, flight displays 20 can be by multiple demonstration skillAny realization in art, this is comprising CRT, LCD, organic LCD, dot-matrix displayEtc..

According to some embodiment, display system 10 is configured to come to display 20 based on radar dataOr at least one in combiner 21 provides image. In Fig. 1, the image on combiner 21 comprises(for example, during marching into the arena and/or landing) runway 23 or relevant to runway 23 of checking from aircraftThe feature 29 of connection. In certain embodiments, at least one demonstration in display 20 or combiner 21Be two or more data from view data, radar data and SVS data merging of derivingTerrain graph. Very advantageously, in one embodiment, by enforcement radar data is provided, canSo that the round-the-clock detection of the runway feature 29 being associated with runway 23 of enforcement to be provided. Very advantageouslyThat in certain embodiments, in challenging weather in the situation that, radar data allows oneIndividual or multiple pilots check runway 23 and orientation thereof.

In certain embodiments, for providing about runway on display 20 and combiner 2123 and extend symbol or the icon of center line 27. In certain embodiments, runway 23 and prolongation center line 27Can be associated with SVS data. In certain embodiments, can on display 20 or combiner 21For example, to indicate one group of runway feature 29, approach lighting system or other runways and taxi-track light. OneIn a little embodiment, runway feature 29 can be associated with radar data.

With reference to figure 2, display system 10 can be used for to any one in display 20 or combiner 21Image is provided. Display system 10 and radar system 102, synthetic vision system (SVS) 111 and increasingStrong vision system (EVS) 112 communicates or comprises these systems. In certain embodiments, EVS112 and SVS111 be optional. Display system 10 can comprise HDD computer 132 and HUD meterCalculation machine 134. This display system 10 comprises for storing the storage from the enhancing visual frame of EVS112Device 153, for storing the memory 152 from the enhancing visual frame of SVS111, wave filter 154,Image rendering device 155, for storing the memory 156 from the radar data of image rendering device 155,Image pooling function module 160, and image merges control/configuration module 162.

Wave filter 154, image rendering device 155, image merge module 160 and image merging is controlled/Configuration module 162 can be used as works and can be kept at nonvolatile on computing platform or processor 175Software module on property medium realizes. In certain embodiments, processor 175 can be radar systemSystem 102, SVS111, EVS112, HDD Display control computer 132 or HUD computer 134 onePoint or integrated with it. In one embodiment, processor 175 is independent platforms.

In certain embodiments, radar system 102 is Weather radar systems, the common position of this systemIn aircraft nose with interior, aircraft cockpit is inner, aircraft top or aircraft afterbody. RadarSystem 102 can comprise radar data memory cell 180, radar antenna 182 and processor 185.Radar system 102 can be a Weather radar system, for example from RockwellCollins and withThe Multiscan that mode described herein configures^TMRadar system. In certain embodiments, radar system102 can obtain and external environment condition phase by division aperture, Huo Zi aperture, semiaperture or other technologiesAssociated radar data. This radar system 102 can use U. S. application 13/627,788,12/892,563,13/250,798,12/236,464 and 12/167,200 and United States Patent (USP)Division aperture or the sub-aperture technique in 8,077,078, described, wherein said application is here introduced to doFor reference, and these applications have all been transferred to the application's applicant. Radar system 102Type and data collection techniques are not discussed in restrictive mode in this manual.

Processor 185 for example receives, from the radar return of radar antenna 182 (, Weather RadarData), radar return is processed, and the radar in radar data memory cell 180 is providedData. In certain embodiments, the data that are kept in radar data memory cell 180 can be used asPicture frame is preserved, and what this picture frame represented is from for example, thunder for external environment condition (runway environment)Reach the data that derive in frequency sweep processing.

In one embodiment, radar system 102 by the radar data in memory cell 180 (for exampleWeather radar data) offer wave filter 154. In one embodiment, image rendering device 155 or itsHe can store or device 154 filtering after filtering from radar data memory cell 180 by image composerData in produce picture frame, and can provide it to memory 156. As an alternative, processor185 can the radar return data based on being derived from radar system 102 build frame or image. Equally, SVS111 can provide data or frame for the SVS image that memory 152 receives. As an alternative, display system10 can provide data or picture frame to memory 153 in response to the data from SVS111. WithSample, EVS112 can provide data or frame for the EVS image that memory 153 receives. As an alternative,Display system 10 can provide data or figure to memory 153 in response to the data from EVS112Picture frame.

The radar data associated with external environment condition can represent the position of detected target and detected targetPut. This target comprises landform, manual features, object, runway etc. In certain embodiments,The angular resolution and the range resolution ratio technology that promote allow to determine more accurately target location, andIn view data, represent this position. Radar system 102 is carried out frequency sweep to the external environment condition in aircraft frontProcess, so that sensed object position. In certain embodiments, radar system 102 can be used clutterInhibition and doppler filtering processing improve performance.

In certain embodiments, radar system 102 is provided for table according to weather radar scan processShow the data in 120 ° of visuals field, in one embodiment, complete this scan process approximately need five seconds timeBetween. In certain embodiments, during marching into the arena, scan process will be constrained to 30 ° of scannings, whereinThis scanning can need the time of five seconds at new data before showing. This scan process for be the earthSurface, thus, the echo obtaining allows runway environment feature to detect. Do not departing from thisIn the situation of bright scope, various types of scanning, frequency sweep processing and scanning and frequency sweep timing are allOperable.

In certain embodiments, the radar system 102 realizing as weather radar allows to use existingAvionic device as real time sensor to pilot provide derive by radar about external fieldThe enhancing image of scape pattern. The image that radar system 102 generates or expression are to provide on display 20, or also can serve as EVS with combiner 21 in certain embodiments and provide situation to pilotPerception. In other embodiments, the image that radar system 102 generates or expression are on display 20Provide, or also can serve as EVFS by combiner 21, to allow lower minimum continental embankmentAccurate.

In certain embodiments, radar system 102 comprises range resolution ratio module 190 and angle-resolvedRate module 192. In certain embodiments, compared with conventional weather sense operation, range resolution ratio mouldPiece 190 has advantageously increased the range resolution ratio of radar system 102. In certain embodiments, with oftenThe weather sense operation of rule is compared, and angular resolution module 190 has advantageously increased radar system 102Angular resolution. In certain embodiments, by increasing distance and angular resolution, can allowOn display 20 and combiner 21, provide more high-resolution image. This range resolution ratio module 190With angular resolution module 192 can be the software module of being moved by processor 185.

According to some embodiment, under the control of angular resolution module 192, radar system 102 canTo realize the angular resolution of lifting by beam sharpening method. In certain embodiments, radar systemSystem 102 for example can use, such as beam sharpening (, horizontal beam sharpening) and beam spot spread functionThe technology of deconvoluting and so on promotes angular resolution. In certain embodiments, radar system 102 canProcess as a kind of bad angular resolution of being introduced for improving antenna to use beam sharpeningThe processing of (for example, because beam angle). In addition, operational method has a variety of, for example:Doppler beam sharpening, synthetic aperture radar (SAR), monopulse radar, sub-aperture radar or divisionAperture radar etc. The center of radar return can be determined by mathematical method, can identify thus raceRoad feature. At U.S. Patent application 13/627,788,12/892,563,13/250,798,12/236,464With 12/167,200 and 8,077,078 pair of beam sharpening technology of United States Patent (USP) discuss, whereinDescribed application and patent are here all introduced with as a reference.

Radar system 102 can be used radar antenna 182, wherein this radar antenna be configured to be useIn the switching aperture antenna of beam sharpening processing. In addition, radar system 102 can also be configured to holdRow sequence lobe or pulse operation, so that accurately estimating target is in the inner residing angle of radar beam.In certain embodiments, radar beam relevant to radar system 102 and that provided by radar antenna 182And the echo being received by radar antenna 182 can be divided into two or more parts, and can be forDetermine angle from radar antenna 182 to target or from radar antenna 182 to runway feature and so onThe vector of target. This vector can be expressed as angle (directrix angle) and the distance with respect to target. WithCan be diversified in calculating with respect to the angle of target or the processing of vector.

In certain embodiments, radar system 102 is used radar antenna 182 can be for completeOn aperture carry out transmission and receive processing with on local aperture carry out receive in completeOn aperture, carry out between the processing of transmitting and switch. These technology can be used for accurate estimating target at radar waveRestraint inner residing angle, and can promote for proofreading and correct the many of these angles by these technologyThe accuracy that Pu Le calculates. The echo receiving by processing, can determine and antenna beam directrix phaseThe high-resolution of right angle on target is estimated. According to some embodiment, echo can be used complex conjugate multiplicationMethod is processed, to determine angle on target. In certain embodiments, this processing can with train waveLobe processing is associated, but this processing is to carry out in the phase region relative with common amplitude domain.

In certain embodiments, what radar system 102 was used is sequence lobe technology, in this technologyUse two antennas close to same position, can between two antennas, switch back and forth thus. LogicalCross and use the amplitude characteristic or the phase property that between two parts of antenna, change, can obtain and instituteDetect the target location phase of target (for example object of other aircraft, landform, point building and so on)The data of closing. Because the variation of Doppler's induced phase can be polluted phase center and measured, therefore, train waveLobe can not be combined with phase bit comparison conventionally with moving target. But, by using complex conjugate multiplicationMethod, can allow to process by offseting the phase place variation of eliminating Doppler's induction. Thus can be truePhase center variation between the sub-aperture of fixed multiple differences, and can determine relatively with this variationIn the angle of target.

In certain embodiments, range resolution ratio module 190 is by increasing the effective of radar system 102Waveform width provides more high-resolution. In certain embodiments, range resolution ratio module 190 canUse step frequency relatively to process. In order to provide higher range resolution ratio, range resolution ratio module 192(for example frequency is very high can to provide ULTRA-WIDEBAND RADAR (UWB) wave beam by control radar system 102Ultra-narrow pulse) or provide compression in arteries and veins to process (the phase-modulation frequency of the pulse transmitting). ?In some embodiment, what use can be to comprise common linear frequency modulation (LFM) or the side of warblingThe discrete encoded segment of method and pulse inside is in interior frequency coding technology. In certain embodiments,What use can be the modulation technique including Binary-phase bit code and various heterogeneous bit code. ForHigher range resolution ratio is provided, and range resolution ratio module 192 can be passed through control radar system 102Provide intercadence punching press contracting processing or step frequency compression to process and (for example there is frequency discrete and that increaseThe continuous impulse of rate stepping). In certain embodiments, step frequency compression is processed and has advantageously been usedVery narrow is that Time Bandwidth is realized high efficiency bandwidth. In certain embodiments, receive bandwidth less,Noise bandwidth is just less, and signal to noise ratio will be higher. In certain embodiments, modulus sample rateVery low (than pulse compression). In addition, in certain embodiments, step frequency is relatively locatedReason has less peak power (for example comparing with impulse) equally, and it provides transmitting flexiblyFREQUENCY CONTROL, and can " jump to " limited or unexpected transmitting power, enables self adaptation/recognizeKnow frequency application, and refusal is from the follow-up clutter of transmitted pulse reception early. Further, existIn some embodiment, the echo providing from the clutter in fuzzy distance is provided in step frequency compression,These clutters have the frequency different from echo from target, with and connecing in radar system 102In receipts machine IF wave filter, will refuse these fuzzy clutter echoes. In certain embodiments, Step FrequencyRate compression is processed and conventionally can not realized range resolution ratio with individual pulse, needs thus transmitting, receivesWith process for the set of pulses of arbitrary Frequency point (bin), and there is more obvious distance-how generalStrangle the coupling different Doppler shifts of each frequency (for example, for).

According to an embodiment, SVS111 can be the outer scene shape for providing computer to generateAny electronic system or the equipment of looks image. This image can come from from the angle of the flight-deck of aircraftDegree, and be from aircraft height, high-precision navigation calculation and about landform, barrier and phaseIn the database of pass man-made features, derive. Conventionally, in conventional system, only can show that these are included inLandform, barrier and runway feature in the SVS database of current version. In certain embodiments,It is the enhanced form of available visual cues that pilot is used as synthetic visual pattern.

According to an embodiment, EVS112 can be for the outer scene sensing shape appearance figure is providedAny electronic system or the equipment of picture. In one embodiment, EVS112 can be infrared camera.

In certain embodiments, display system 10 combines or merges from HUD computer 134, SVS111And/or the image of EVS112 and the image of deriving from come from the radar data of radar system 102,To provide a complete image providing for pilot according to an embodiment. At some embodimentIn, the image of deriving from radar data can with the HUD symbol for display 20 or combiner 21Merge.

According to an exemplary embodiment, SVS111 can comprise topographic database and processor. ShouldTopographic database can be for creating aircraft front scene on two dimensional display or three dimensional displayFluoroscopy images. And the operable landform color of this topographic database with in the aerial chart of standard, retouchThe landform color similarity of stating.

SVS111 can also receive from aircraft data source position of aircraft data. This aircraft dataSource can comprise provide any system of navigation data or aerocraft flying parameter or sensor (or itsCombination). For example, typical aircraft guidance system can have numerous subsystems. Be used for providing and flyThe subsystem of row device position data and flight parameter data can be including, but not limited to inertial navigation(INS) system, GLONASS (for example global positioning system (GPS)), flight numberReportedly sensor, compass and Flight Management Computer (FMC).

In certain embodiments, wave filter 154 is realized better figure picture element by processing radar dataAmount. This wave filter 154 can be positioned among radar system 102. Wave filter 154 can noise decrease,And can use anti-speckle filtering processing, Kalman filtering processing, Chebyshev filtering processing, fromAdaptive filtering processing, smoothing processing etc. In certain embodiments, wave filter 154 can also be carried outAnti-sawtooth processing. In U.S. Patent application 14/482681, describe for promoting picture quality and knowledgeThe technology of other runway feature, wherein this application is here introduced with as a reference.

In order to impel generation image more clearly, processor 185 and/or wave filter 154 can be configured toRadar return is carried out to filtering processing, to identify the region of reflectivity lower than predetermined value. At someIn embodiment, based on corresponding reflectance value, can cancel low-yield district, thus can be by these regionsPlay up transparent. This type of filtering processing may cause final image only to have in airport terminal area or raceHigh reflectance structure in road environment, for example approach lighting system, threshold value illuminator and/or runway limitEdge illuminator.

In certain embodiments, be provided for filter from the radar data of radar data memory cell 180Ripple device 154, image rendering device 155, and offer memory 156 and HUD as view dataComputer 134 or HDD Display control computer 132 provide figure thus on display 20 or combiner 21Picture. In another embodiment, radar data can be used as view data and offers image pooling function mouldPiece 160. This image pooling function module 160 receives from the EVS frame of memory 153 or from storageThe SVS frame of device 152, and merge for the appropriate data that show EVS image or SVS image andThe image of deriving from radar data.

In certain embodiments, processor 175 merges and is derived from by moving a fusion treatment algorithmMemory 152, memory 153 and memory 156 and the frame providing as vision signal. This fusionProcessing can comprise taking the input of other sensors or aircraft as basis for the spy from specific imageDetermine the special format processing (size is adjusted, cutting etc. in location) of feature or whole image.After having completed the image merging or merge, the large young pathbreaker of whole image is adjusted, so that it is appropriateFit in complete inside, the HUD visual field (for example using HUD symbol to represent), and in the mode of conformalCover on the outer scene of checking by the combiner 21 of HUD. In addition, whole fused images is rightCarry out standardization than degree by brightness/contrast, support thus the brightness/contrast of HUDControl.

Processor 175 and 185 can be can operating instruction and operation navigation and radar data timesWhat hardware and/or software processor or processing framework. Processor 175 and 185 can be based on being derived from flightThe data of device sensor are determined navigation information, for example height, course, orientation and position. ApplicantNotice, according to an embodiment, flow process 300 can be carried out in the distinct device on aircraft 10,This comprising HUD computer 134, video-stream processor, Weather radar system 102, navigation system,SVS111 etc. Processor 175 and 185 can be or can comprise: one or more micro-processingDevice, special IC (ASIC), the circuit that has comprised one or more processing components, a componentCloth formula processing components, for the circuit of support microcontroller or be configured to carry out other that processHardware.

Figure merges control configuration module 162 can provide data format to regulate processing. SVS111 andRadar system 102 can have self distinctive interface type and form. In addition display 20 and group,Each demonstration of closing device 21 all needs specific format to process. Wherein a kind of form of standard can beThe form using in HUD processing capacity. Image configurations module 138 can use hardware, software orIt combines to implement.

The realtime graphic of deriving from radar data in certain embodiments, allows pilot accurately and reliablyThe existence of runway is confirmed on ground. In one embodiment, by location runway approach light or runway edgeLamp and so on runway environment characteristic pattern, can allow to recognize easily the position of runway with respect to aircraft.In certain embodiments, by image data processing, can provide two-dimentional Confusion Of Aircraft to show (exampleAs vertically profiling shows or plan view demonstration). In other embodiments, by image data processing,Can be provided for the three-dimensional or perspective Confusion Of Aircraft demonstration figure of the 3D position that represents runway environment featurePicture.

With reference to figure 3, in certain embodiments, display system 10 can be carried out a flow process 300. ?Operation 302, Weather radar system 102 provides the weather radar frequency sweep being made up of multiple radar beams placeReason. In certain embodiments, these radar beams are to press according to beam sharpening technology and step frequencyContracting technology and providing in a kind of mode that promotes angle and range resolution ratio. In certain embodiments,In operation 304, carry out receiving radar echo according to beam sharpening technology and step frequency compress technique, so thatPromote angle and range resolution ratio. In certain embodiments, in operation 306, by processing radar returnObtain view data. As mentioned above, filtering or correlation technique can be by wave filter 154 in optional stepsIn rapid, carry out. In operation 308, view data and other view data are merged mutually, for example, with covering symbolNumber or SVS or other EVS image sources merge.

In operation 310, by the demonstration of HUD Display control computer 132 or HUD computer 134 and so onComputer and show the image that is associated with view data on display. In certain embodiments, existAfter operation 310, flow process 300 turns back to operation 302.

With reference to figure 4, with the outer scene pattern phase deriving from the associated radar of memory cell 180The image 400 closing has comprised the feature 402 being associated with runway approach light.

With reference to figure 5, the image 600 of deriving from radar data has HUD symbol 602. As representativeProperty example, HUD symbol 602 shows with static format.

Radar system 102 can be passed through on high with level and/or vertical mode scanning radar wave beam conventionallyCarry out executable operations, to weather is detected. For example, radar system 102 can be directly in flightThe first horizontal sweep processing is implemented in device front, and carries out the second level downwards on certain angle of inclinationScan process (for example, downward 20 °). Echo from differing tilt angles can electricity consumption submodeMerge, to be formed on the electronics of the display 20 of aircraft control centre 11 or combiner 21 and so onThe combination picture showing on display. Compared with weather sense process, the processing of sensing external environment condition canCarry out with the resolution ratio with higher, and can use one or more wave beams that are directed to external environment condition.In certain embodiments, the processing of sensing external environment condition can be carried out in the direction of forward sight more, andAnd its azimuth sweep processing is less than the azimuth sweep processing for detection of weather. In some enforcementIn example, radar beam is to point to GPS and/or other navigation informations the external environment condition being associated with airport.

In certain embodiments, before marching into the arena or landing, Weather radar system 102 can be at weatherIn sensing modes, work. During marching into the arena or landing, Weather radar system 102 can alternately be carried out and be used forThe radar data collection and treatment of sensing external environment condition, for the radar data collection and treatment of sensing weather,And for the radar data collection and treatment of sensing wind shear. In certain embodiments, march into the arena orDuring land, Weather radar system 102 can alternately be carried out for the radar data of sensing external environment condition and collectProcess, and for detection of wind shear or detect the radar data collection and treatment of other risks. At someIn embodiment, during marching into the arena or landing, Weather radar system 102 can alternately be carried out for outside sensingThe radar data collection and treatment of portion's environment and for the radar data collection and treatment of sensing weather. OneIn a little embodiment, weather sense operation can be suspended during marching into the arena and landing.

The scope of the present disclosure is that contained by claim, its legal equivalents and the disclosure can comprehensivelyThis fact of other embodiment that be those skilled in the art know that is determined. As a reference,Dominant introducing with above-mentioned open of equal value and be all knots known to those of ordinary skill in the art hereStructure, electronics and function equivalent, and these equivalents all should be included in claim. UnlessDominant statement, otherwise for the quoting and do not mean that and only of the parts of singulative,On the contrary, it should be construed as referring at least one. Unless clearly used phrase " for ... dressPut " narrate the key element of claim, otherwise can not be according to the rule of the 6th section of 35U.S.C.&112Fixed these key elements of explaining. In addition dominant narration in the disclosure in the claims no matter whether,Element, assembly or method step, described element, assembly or method step are not devoted to the public.

The embodiment of inventive concept disclosed herein is described with reference to the drawings. These accompanying drawings show canTo implement some details of specific embodiment of system of the present disclosure, method and program. But, useAccompanying drawing is described to embodiment that should not to be construed as be to apply any restriction existing in accompanying drawing. ThisOpenly imagine the program on method, system and any machine-readable medium for completing its operationProduct. The embodiment of inventive concept disclosed herein can both can use existing computer processorImplement, also can be real by the special-purpose computer processor being introduced into for this object or other objectExecute, can also be implemented by hard wire system.

As mentioned above, comprise program product in inventive concept disclosed herein with interior embodiment, instituteState program product and comprised the nonvolatile for having carried or stored machine-executable instruction or data structureProperty machine-readable medium. This type of and readable media thereof anyly can be calculated or be had processorThe useable medium of other machines access. For example, this type of and readable media thereof can comprise RAM, ROM,EPROM, EEPROM, CDROM or other disk storages, magnetic disc store or other magnetic storage apparatus,Or can be for carrying or store the expection of the form that has adopted machine-executable instruction or data structureProgram code and can or there are other any Jie of the other machines access of processor by computerMatter. Thus, any such connection is all called machine readable media rightly. Above-mentioned every groupContract sample can be included in the scope of machine-readable medium. As example, machine-executable instructionComprise the instruction and data that impels processor to carry out certain function or certain group function.

Embodiment in inventive concept disclosed herein describes in the general context of method step, in one embodiment, this general context can be realized by program product, this program productThe machine-executable instruction that has comprised program code and so on, wherein as example, described instruction adoptsIt is the form by the program module of the machine operation in networked environment. Conventionally, program module comprises executionThe routine of particular task or enforcement particular abstract data type, program, object, assembly, data knotStructure etc. What the machine-executable instruction being associated with data structure and program module represented is forCarry out the example of the program code of method step disclosed herein. This type of executable instruction or be associatedData structure the representative of concrete order be the corresponding behaviour for implementing the function that this type of step describesThe example of doing.

As previously mentioned, the embodiment in the disclosure can have a processor having used with one or moreThe networked environment that connects of the connected logic of remote computer in implement. Those skilled in the art will recognizeKnowledge is arrived, and such network computing environment can contain polytype computer, and this counts comprising individualCalculation machine, handheld device, multicomputer system, programmable consumer electronics equipment based on microprocessor,Network PC, minicom, mainframe computer etc. Embodiment in the disclosure can also be by leading toCross communication network (by hard wire link, or by Radio Link, or hard wire or Radio LinkCombination) implement in the logic of link and the teleprocessing equipment DCE of executing the task.In DCE, program module can be arranged in local and remote memory storage devices simultaneously.

Database or system storage can comprise read-only storage (ROM) or random access memory(RAM). This database can also comprise the magnetic hard disk drives for reading and writing magnetic hard disk, for read-writeThe disc driver of removable disk, and for reading and writing the removable CD of CDROM and so on or otherThe CD drive of optical medium. The machine-readable medium of driver and associated is that machine can be carried outInstruction, data structure, program module and other data for computer provide non-volatile memory.User interface described herein can comprise with monitor, keyboard, numeric keypad, mouse, rocking barOr the computer of other input equipments of execution similar functions.

Should be noted that, although the diagram has here shown concrete order and the combination of method step,But should be appreciated that, the order of these steps also can be different from described order. For example, twoOr more multi-step both can be carried out simultaneously, also can be local concurrent. And some are as discrete stepsThe method step of carrying out can combine, and the step of carrying out as combination step can be divided into discreteStep, the order of some processing can be put upside down or change by other modes, and discrete processingCharacteristic or quantity can replace or change. According to alternative embodiment, any element or device suitableOrder or sequence all can change or replace. Correspondingly, all such amendments all should be included inIn the scope of the present disclosure.

Provide for illustration and description object about the description of embodiment above. It is not exhaustiveProperty, or this theme is not confined to disclosed exact form, and according to above-mentioned instruction, crowdMany modifications and variations are all feasible, or can derive by putting into practice theme disclosed herein. Principle and practical application thereof that embodiment selected and that describe is intended to disclosed theme are carried outIllustrate so that those skilled in the art in conjunction with different embodiment and in conjunction with contemplated specific useThe various amendments that way adapts are used disclosed theme. At the model that does not depart from current disclosed themeIn the situation of enclosing, aspect design, operating condition and the layout of embodiment, be to carry out replacing of otherChange, revise, change and abridged.

Although the exemplary embodiment of diagram and description is hereinbefore current preferred reality in the accompanying drawingsExecute example, but should be appreciated that, these embodiment only provide as example. As example, itsHis embodiment can comprise the structure with different pieces of information mapping or different pieces of information. Disclosed themeBe not limited to specific embodiment, but should extend to the scope that still falls into accessory claimWith essence with interior various amendments, combination and displacement.

Claims (20)

1. for strengthening an airborne Weather radar system for vision, comprising:

Antenna; And

Control circuit, being configured to provides via antenna the radar beam that points to external environment condition, and quiltBe configured to receiving radar echo, wherein said control circuit is configured to provide by processing radar returnThe view data being associated with described external environment condition, and be wherein used for providing the radar of image to return with sensingThe weather radar sensing function of ripple is compared, and described Weather radar system has range resolution ratio and the angle of liftingDegree resolution ratio, described radar beam is in X-band or C-band, and described view data provides to pilotThe visual image of outer scene pattern.

2. the system as claimed in claim 1, wherein said angular resolution is to carry by beam sharpening technologyRise.

3. system as claimed in claim 1 or 2, wherein said antenna is to switch aperture antenna.

4. the system as described in aforementioned any one claim, wherein said range resolution ratio is to use steppingFrequency compression is processed lifting.

5. the system as described in aforementioned any one claim, wherein said control circuit is configured to responseOn display, provide perspective to strengthen image in described view data, using this as visual image.

6. the system as described in aforementioned any one claim, wherein said radar beam is as having pointThe independent pulse of vertical lifting frequency step provides.

7. system as claimed in claim 6, wherein said frequency step is skipped limited or unexpected frequencyRate.

8. for a method for real time sensor image is provided, described method comprises:

Receive the radar return from X-band or the airborne Weather radar system of C-band, wherein by processingDescribed radar return, can have range resolution ratio and the angular resolution of lifting, and described radar returnsRipple receives from external environment condition; And

The visual image of outer scene pattern is provided based on described radar return.

9. method as claimed in claim 8, the airborne weather radar of wherein said X-band or C-bandThe described radar return of system comprises switching aperture, sequence lobe or pulse Weather radar system.

10. method as claimed in claim 8 or 9, also comprises: by using described view dataOn head down display, show that Confusion Of Aircraft shows image.

11. methods as described in any one in claim 8 to 10, wherein said X-band or XThe airborne Weather radar system of wave band comprises switching aperture antenna.

12. methods as described in any one in claim 8 to 11, also comprise: provide and described thunderThe radar beam that reaches echo correlation connection, described radar beam provides by beam sharpening technology.

13. methods as claimed in claim 12, wherein said beam sharpening technology comprises sub-aperture or dividesSplit aperture technique.

14. methods as described in claim 12 or 13, wherein said radar beam is to use ultra-short pulseWhat in punching, arteries and veins, between compression or arteries and veins, compression processing provided.

15. methods as described in any one in claim 12 to 14, wherein said radar beam isUse step frequency compression processing to provide.

16. 1 kinds strengthen vision system, comprising:

Weather radar system, is configured to strengthen range resolution ratio, and wherein said Weather radar system generatesThe picture number of the runway environment being associated for the radar return that represents to receive with described Weather radar systemAccording to, described radar return is in X-band or C-band; And

With the display that described Weather radar system is communicated by letter, it is configured to show and described radar return phaseAssociated image.

17. systems as claimed in claim 16, wherein said Weather radar system comprises and is configured to makeThe processing electronic equipment of range resolution ratio is provided with step frequency compression processing.

18. systems as claimed in claim 17, wherein said processing electronic equipment is configured to use rippleBeam sharpening processing provides the angular resolution of lifting.

19. systems as described in any one in claim 16 to 18, wherein said display is looked under beingDisplay or on look display.

20. systems as described in any one in claim 16 to 19, wherein said enhancing vision systemSystem is used as strengthening flying-vision system.